Wheel torque distribution method of multi-shaft drive distributed vehicle

Abstract

The invention provides a wheel torque distribution method of a multi-shaft drive distributed vehicle. According to the method, a vehicle longitudinal force and a vehicle yaw moment command of an uppercontroller are converted into a difference of a wheel analysis longitudinal torque and a wheel analysis steering torque, and the torque distribution of the wheel is divided into a stage of left distribution and a right distribution and a stage of a front distribution and a rear distribution; when in the stage of left and right distributions, the wheels at one side is regarded as a whole, and theprinciple of steering priority is adopted; in the stage of the front and back distributions, an average distribution mode under different wheel limit values is adopted, so that the torque load of thewheels at the same side is similar, the torque among the wheels at the same side is mutually compensated, and the torque sum of the wheels at the same side is accurately distributed. By means of the method, the complex multi-axle wheel torque distribution is divided into the torque distribution of less wheels, so that the complexity of the wheel torque distribution is reduced, the dynamic propertyand steering stability of the vehicle are ensured, and the demand command of the upper controller is achieved at utmost, and the method is especially suitable for the wheel torque distribution underthe working condition where the wheel capacity is limited or the wheels are damaged.

Description

technical field [0001] The invention belongs to the field of vehicle dynamics control, in particular to a method for distributing wheel torque of multi-axis drive distributed vehicles. Background technique [0002] A distributed vehicle refers to a vehicle in which the motor is directly installed in the wheel (that is, the hub motor is used) or nearby (that is, the wheel-side motor is used), and the control of the vehicle is realized through the motor torque. Distributed vehicles have outstanding advantages such as short drive transmission chain, high transmission efficiency, and compact structure, and have been widely concerned by R&D personnel in the automotive industry year by year. [0003] At present, the vehicle control of distributed vehicles can be realized through the upper controller and the lower controller, wherein the upper controller obtains the upper demand command of the vehicle according to the driver's operation and the vehicle state, including the longitud...

AI Technical Summary

Problems solved by technology

[0008] The purpose of the present invention is to solve the problems in the torque distribution of the current multi-axis drive vehicles, such as high cost of calculation and solution, difficulty in determining the optimization parameters, mutual compensation between the wheel torques, and maximum realization of the demand instruction of the upper controller.

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